CPose2DInterpolator_unittest.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include <mrpt/poses/CPose2DInterpolator.h>
#include <mrpt/system/datetime.h>
#include <mrpt/utils/CTraitsTest.h>
#include <gtest/gtest.h>

template class mrpt::utils::CTraitsTest<mrpt::poses::CPose2DInterpolator>;

TEST(CPose2DInterpolator, interp)
{
        using namespace mrpt::poses;
        using mrpt::math::TPose2D;
        using mrpt::utils::DEG2RAD;

        const mrpt::system::TTimeStamp t0 = mrpt::system::now();
        const mrpt::system::TTimeStamp dt = mrpt::system::secondsToTimestamp(0.10);

        CPose2DInterpolator pose_path;

        pose_path.insert(t0, TPose2D(1., 2., DEG2RAD(30.0)));
        pose_path.insert(
                t0 + 2 * dt, TPose2D(1. + 3., 2. + 4., DEG2RAD(30.0 + 20.0)));

        TPose2D interp;
        bool valid;
        pose_path.interpolate(t0 + dt, interp, valid);

        EXPECT_TRUE(valid);

        const TPose2D interp_good(1. + 1.5, 2. + 2.0, DEG2RAD(30.0 + 10.0));
        for (unsigned int i = 0; i < interp_good.size(); i++)
        {
                EXPECT_NEAR(interp_good[i], interp[i], 1e-4);
        }
}